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#ifndef _INS_H
#define _INS_H
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include "CGetParam.h"
#define insOK 1
#define insError -1
#define ANSWER_LENGTH 100
#define FILTERA 0.65
#define DELTAT 1/20
#define C_PI 3.1415927
#define C_TWO_PI (C_PI * 2.0)
#define C_PI_HALF (C_PI / 2.0)
#define C_TRACE_LEVEL_MENU_ELEMENT_LENGTH 40
#define C_MAX_NO_OF_TRACE_LEVELS 10
#define C_MAX_LIST_STR 20
typedef struct {
bool levels[C_MAX_NO_OF_TRACE_LEVELS];
int level;
char Id[C_MAX_LIST_STR];
char sub_unit[C_MAX_LIST_STR];
} m_trace_level;
typedef struct {
char sub_unit[C_MAX_LIST_STR];
} m_req_trace_levels;
typedef struct {
bool level_used;
char level_description[C_TRACE_LEVEL_MENU_ELEMENT_LENGTH];
} t_trace_level_menu_element;
typedef struct {
char Id[C_MAX_LIST_STR];
t_trace_level_menu_element menu[C_MAX_NO_OF_TRACE_LEVELS];
} m_trace_levels_menu;
class Cins
{
public:
Cins(char *Device,bool ErrorReported, void *rmutex);
~Cins();
void Serial_Callback(const char* signal,const char* bytes);
bool INS_GetBitData();
bool INS_GetPositionData(unsigned short int *Spheroid,
short int *Hemisphere,
unsigned int *Easting,
unsigned int *Northing,
short int *Altitude);
bool INS_GetPointingDeviceAttitudeData(float *azim,float *tilt,float *roll);
void INS_GetVelocityData(float *velazim,float *veltilt,float *velroll);
int INS_GetAnswer(int num);
void INS_GetStatusBit(unsigned short int Status);
void INS_GetBitData(unsigned short int Status);
void INS_SetDebug(bool newdebug);
void INS_SetDebugHangup(bool newdebug);
bool INS_ERROR();
bool INS_GetOpenErrorReported(void);
bool INS_GetDruNeedsZeroVelocityUpdate(void);
bool INS_GetDruNeedsPositionUpdate(void);
bool INS_GetBitMalFunction(void);
bool INS_GetDruAlert(void);
bool INS_GetDruFailure(void);
bool INS_GetVmsFailure(void);
bool INS_GetVmsDriveFailure(void);
bool StopWatchDog;
bool debug;
bool InsUsed;
char *DeviceName;
int WatchDogSleepTime;
bool bTimedOut;
int datalen;
private:
bool debughangup;
void* insWatchDogId;
CGetParam *myParam;
bool StatusBit[16];
bool BitData[16];
bool OpenErrorReported;
long INSPosLatency;
long INSAttLatency;
long INSBitLatency;
long INSContextSwitchLatency;
float filterB;
int nummeasured;
float vazim;
float vtilt;
float vroll;
float oldazim;
float oldtilt;
float oldroll;
int Write_Serial(char * msg, int datalen);
};
#endif
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